SP-POMDP：堆疊物體抓取場景中的任務規(guī)劃方法

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關鍵詞：機器人抓??；堆疊場景；POMDP；任務規(guī)劃；狀態(tài)空間修正中圖分類號：TP391 文獻標志碼：A 文章編號：1001-3695（2025）07-019-2064-08doi：10.19734/j. issn.1001-3695.2024.11.0495

Abstract：Inthe workingscenarioof robots grasping stackedobjects，due tosensorsampling afectedbyclutter andpartial observabilitycaused byobjectocclusion intheenvironment，robotsareunable toachieveaccurateand complete modeling， making itdificulttoeficientlycompletetasks.ThispaperdesignedastatepatchedbasedpartiallyobservableMarkovdecision proceses （SP-POMDP）model to addressthe above isues，and proposed arobot grasping task planning method based on this model.This methodabstractly extracted discrete states，actions，andobservation spaces basedonsamplingresults.Through a statespacecoectionmethod，stateinformationthatcouldn’tbesampledandrecognizedduetopartialobservabilityintheenvironment wasadded tothestate spacebasedonthe inherentcharacteristicsofthecurent stackedscene.Itconstructedabelief treetosolvethemodel.Theresultsofexperimentsshowthatinthegraspingtaskofstackedobjects，thismethodcansignificantly reduce computation time and improve work eficiency while ensuring success rate.

Key words：robot grasping；stacking scene；POMDP；task planning；state space patching

0 引言

在雜亂的物體堆疊場景中搜索并抓取特定物體是工業(yè)場景中的場景任務。（剩余20310字）